The multi-agent system (MAS) based strategy and corresponding implementing algorithms for UUVs formation navigation are proposed according to aviation characteristics and practical const raint s of UUVs. The coordinative optimizations among every individual UUV are carried out with flexible and smart ways by interactive communications and information feedback in MAS so as to implement the autonomous formation navigation of UUVs. Furthermore the control law and corresponding algorithms of the UUV controller in the formation process are studied in depth based on the controller in the formation keeping and simulation result s verify the robustness and stability of the formation cont rollers. Finally, the formation intelligent control method was verified by simulated verification and comparative analysis.%针对无人水下航行器(Unmanned Underwater Vehicle,UUV)编队航行的实际背景和限制条件,提出了一种基于多智能体系统(MAS)技术的多UUV编队智能控制方法.利用多Agent之间的交互作用,以灵活便捷的方式进行各UUV之间的协同优化,从而实现多个UUV的自主编队航行.考虑到控制器在编队保持中的重要性,对面向UUV编队航行的控制率和实现算法进行了重点研究,设计了UUV编队控制器,并通过仿真实验验证了该算法的鲁棒性和稳定性,最后对多UUV编队智能控制方法进行了仿真验证和分析.
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